An Approach for Robotic Leaning Inspired by Biomimetic Adaptive Control

How to enable robotic compliant manipulation has become a critical problem in the robotics field. Inspired by biomimetic adaptive control strategy, this article presents novel representation model named human-like movement primitives (Hl-CMPs) which could allow robot learn behaviors. The state-of-the-art approaches can hardly complete profiles for specific task. Comparatively, our encode task-specific parametric trajectories, correspondingly associated with dynamic trajectories including both impedance and feedforward force profiles. are learned based on strategy derived from human motor learning muscle space, enabling simultaneously while executing obtained demonstration. Furthermore, kinematic thus of skill using corresponding parameters (i.e, parameters). Hl-CMps automatically behaviors an online manner after Our approach is validated insertion task cutting KUKA LBR iiwa robot.